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Obstacle sensing apparatus for vehicles

  • US 5,479,173 A
  • Filed: 03/08/1994
  • Issued: 12/26/1995
  • Est. Priority Date: 03/08/1993
  • Status: Expired due to Fees
First Claim
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1. A vehicle obstacle sensing apparatus comprising:

  • (a) deduced traveling-passage prediction means for predicting a deduced traveling-passage on which a vehicle will travel, based on a steering angle, a yaw rate and a velocity of the vehicle;

    (b) current traveling-passage detection means for detecting a current traveling-passage on which the vehicle is currently moving;

    (c) obstacle sensing means for sensing at least one obstacle within a predetermined area; and

    (d) danger level judgment means for judging a danger level of an obstacle sensed by said obstacle sensing means, in accordance with an area within which said obstacle is sensed, and one of the deduced traveling-passage predicted by said deduced traveling-passage prediction means and the current traveling-passage detected by said current traveling-passage detection means.

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